Multi-station stamping manipulator based on servo pressure coordination control

Abstract

The utility model relates to the technical field of mechanical automation, in particular to a multi-station stamping manipulator based on servo pressure coordination control. The mechanical arm comprises a mechanical arm body, an actuator is installed on the surface of the mechanical arm body, a replacing device is arranged on the surface of the mechanical arm body, the replacing device comprises a fixing ring, the fixing ring is fixedly connected with the surface of the mechanical arm body, the fixing ring is fixedly connected with one side of the actuator, and the other side of the actuator is fixedly connected with the mechanical arm body. The arc surface of the manipulator body is fixedly connected with a fixing rod, the arc surface of the fixing rod is sleeved with a single-hole plate, one side of the single-hole plate is fixedly connected with a short rod, and the arc surface of the short rod is slidably connected with a fixing ring. The problems that different executor tail ends need to be used due to different production tasks, and due to the fact that an executor of a manipulator body is difficult to replace, workers need to replace different manipulator bodies, and the work sharing of the workers is increased are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical automation technical field especially relates to a kind of multi-station punch press mechanical hand based on servo pressure coordination control. BACKGROUND

[0002] Single punch press mechanical hand can be divided into single station single station, single station multi-station punch press mechanical hand.Single station single station punch press mechanical hand is suitable for larger, sheet-shaped punch press production occasion, and the types of end effector of punch press mechanical hand are various, generally punch press mechanical hand is fixed in the occasion worked, if production task is different, then the mechanical hand that is not suitable is difficult to complete corresponding work task, if mechanical hand is not convenient to replace end effector, and forcibly use, then it can reduce production efficiency.

[0003] One of Chinese patent application CN201721004154.3 discloses a kind of stretch end cap multi-station mechanical hand, and its technical scheme main points are: the utility model punch press mechanical hand is by punch press mechanical hand frame, mechanical hand sliding rail, punch press mechanical hand baffle, punch press mechanical hand block, realize the stretch structure of stretch end cap multi-station mechanical hand combination punch press action, realize the integrated machining process of end cap, stretch end cap and then punch press seal, high-efficiency convenient one mechanical hand multifunctional application, end cap on support table can also be matched with regulation and control.

[0004] For the above and existing related technology, the inventor believes that the following defects often exist: different production tasks need to use different end of executor, since the executor of mechanical hand body is difficult to replace, leading to that work staff needs to replace different mechanical hand body, and the problem of work staff work sharing increases;Therefore, aiming at the above problems, a kind of multi-station punch press mechanical hand based on servo pressure coordination control is proposed. Utility model content

[0005] The utility model aims at solving the executor of mechanical hand body in prior art is difficult to replace, leading to that work staff needs to replace different mechanical hand body, and the shortcoming that work staff work sharing increases, and proposes a kind of multi-station punch press mechanical hand based on servo pressure coordination control.

[0006] In order to achieve the above object, the utility model discloses the following technical scheme: a kind of multi-station punch press mechanical hand based on servo pressure coordination control, including mechanical hand body, the surface of the mechanical hand body is equipped with actuator, the surface of the mechanical hand body is equipped with replacement device, the replacement device includes fixed ring, the surface of the fixed ring is fixedly connected with the mechanical hand body, the side of the fixed ring is fixedly connected with actuator, the arc surface of the mechanical hand body is fixedly connected with fixed rod, the arc surface of the fixed rod is sleeved with single-hole plate, the side of the single-hole plate is fixedly connected with short rod, the arc surface of the short rod is slidably connected with fixed ring, the arc surface of the fixed ring is equipped with two circular grooves, the surface of the short rod and fixed ring circular groove is slidably connected.

[0007] The above components achieve the following effects: By providing the replacement device, the staff can conveniently replace the actuator. Since there are various types of actuators, different actuators need to be used for different production tasks. Since the actuator of the mechanical hand body is difficult to replace, the staff needs to replace different mechanical hand bodies, which increases the workload of the staff and improves the convenience of the device.

[0008] Preferably, the arc surface of the fixed rod is sleeved with a first spring, and the two ends of the first spring are fixedly connected with the single-hole plate and the mechanical hand body, respectively.

[0009] The above components achieve the following effects: The stability of the short rod is improved, and the short rod is prevented from sliding in the fixed ring and falling off the fixed ring during the work of the mechanical hand body.

[0010] Preferably, the arc surface of the fixed rod is fixedly connected with a circular plate, and the size of the short rod is matched with the size of the fixed ring circular groove.

[0011] The above components achieve the following effects: The single-hole plate is prevented from being pulled off, and the staff is prevented from exerting too much force on the single-hole plate when replacing different actuators, which prevents the single-hole plate from falling off the arc surface of the fixed rod and avoids the need for the staff to install the device again when using it.

[0012] Preferably, the arc surface of the fixed rod is slidably connected with a limiting plate, the arc surface of the fixed rod is fixedly connected with a long rod, square holes are formed in the two sides of the limiting plate, the surface of the square hole of the limiting plate is slidably connected with the long rod, and the surface of the single-hole plate is fixedly connected with a U-shaped plate.

[0013] The above components achieve the following effects: The position of the short rod is limited, and the staff is prevented from exerting external force on the short rod when installing different actuators, which prevents the short rod from being displaced to a certain extent and avoids affecting the installation of the actuator.

[0014] Preferably, the surface of the robotic arm body is provided with a dustproof device, the dustproof device including a dustproof chamber, the dustproof chamber being fixedly connected to the surface of the robotic arm body, connecting frames being fixedly connected to both sides of the dustproof chamber, a dustproof net being slidably connected to the inner surface of the connecting frame, two single-sided plates being fixedly connected to both sides of the connecting frame, a rotating rod being fixedly connected to the side of the two single-sided plates that are close to each other, an operating plate being rotatably connected to the arc surface of the rotating rod, and a double arc plate being rotatably connected to the inner surface of the connecting frame.

[0015] The effect achieved by the above-mentioned components is as follows: by setting up a dustproof device, the dust at the connection point of the robot body is reduced, avoiding the robot body from working for a long time in a dusty environment. Dust accumulates at the connection point of the robot body, which increases friction, accelerates wear and tear on the robot body, and increases gaps, resulting in a decrease in the positioning accuracy of the robot body, thus improving the reliability of the device.

[0016] Preferably, the arc surface of the rotating rod is fitted with a torsion spring, and the two ends of the torsion spring are fixedly connected to the single-side plate of the insertion rod and the operating plate, respectively.

[0017] The aforementioned components achieve the following effect: they automatically open the control panel and keep it open, facilitating further work by the staff.

[0018] Preferably, an anti-slip pad is fixedly connected to one side of the operating panel, and the surface of the anti-slip pad is slidably connected to the double-arc plate.

[0019] The effect achieved by the above components is to increase the friction of the operating plate, thereby preventing the robot body from shaking to a certain extent during operation, which would cause the double arc plate to slide on one side of the operating plate, detach from the operating plate, and cause the dustproof net to slide on the inner surface of the connecting frame, thus reducing the protective effect of the dustproof net.

[0020] In summary, the beneficial effects of this utility model are as follows:

[0021] 1. In this utility model, by setting a replacement device, the effect of facilitating the replacement of actuators by the staff is achieved. Since there are many types of actuators, different actuator ends are required for different production tasks. Since the actuator of the robot body is difficult to replace, the staff need to replace different robot bodies, which increases the workload of the staff. This invention improves the convenience of the device.

[0022] 2. In this utility model, by setting a dustproof device, the dust at the connection point of the robot body is reduced, avoiding the robot body from working for a long time in a dusty environment. Dust accumulates at the connection point of the robot body, which increases friction, accelerates wear and tear, and increases gaps, resulting in a decrease in the positioning accuracy of the robot body. This improves the reliability of the device. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0024] Figure 2 This is a schematic diagram of the replacement device in this utility model;

[0025] Figure 3 This is a partial structural schematic diagram of the replacement device in this utility model;

[0026] Figure 4 This is a schematic diagram of the dustproof device in this utility model;

[0027] Figure 5 In this utility model Figure 4 Enlarged view of point A.

[0028] Legend: 1. Robotic arm body; 2. Actuator; 3. Changing device; 4. Dustproof device; 31. Fixing ring; 32. Fixing rod; 33. Single-hole plate; 34. Short rod; 35. Circular plate; 36. First spring; 37. Limiting plate; 38. Long rod; 39. U-shaped plate; 41. Dustproof chamber; 42. Connecting frame; 43. Dustproof net; 44. Single-sided plate; 45. Rotating rod; 46. Operating panel; 47. Torsion spring; 48. Anti-slip mat; 49. Double-arc plate. Detailed Implementation

[0029] Reference Figure 1As shown, this utility model provides a technical solution: a multi-station stamping robot based on servo pressure coordination control, including a robot body 1, an actuator 2 mounted on the surface of the robot body 1, and a replacement device 3 provided on the surface of the robot body 1. By setting the replacement device 3, the operator can easily replace the actuator 2. Since there are many types of actuators 2, to avoid the need to use different actuators 2 ends for different production tasks, and because the actuators 2 of the robot body 1 are difficult to replace, the operator would need to replace different robot bodies 1, increasing the workload of the operator. This improves the convenience of the device. The surface of the robot body 1 is provided with a dustproof device 4. By setting the dustproof device 4, the dust at the connection of the robot body 1 is reduced, avoiding the robot body 1 from working for a long time in a dusty environment. Dust accumulates at the connection of the robot body 1, which increases the friction at the connection, accelerates the wear of the robot body 1, increases the gap, and reduces the positioning accuracy of the robot body 1, thus improving the reliability of the device.

[0030] The specific setup and function of the replacement device 3 and the dustproof device 4 will be explained in detail below.

[0031] Reference Figure 2 and Figure 3As shown in this embodiment: the replacement device 3 includes a fixing ring 31, which is fixedly connected to the surface of the robot body 1 and to one side of the actuator 2. A fixing rod 32 is fixedly connected to the arc surface of the robot body 1. A single-hole plate 33 is fitted onto the arc surface of the fixing rod 32. A short rod 34 is fixedly connected to one side of the single-hole plate 33. The arc surface of the short rod 34 is slidably connected to the fixing ring 31. Two circular grooves are provided on the arc surface of the fixing ring 31. The short rod 34 is slidably connected to the surface of the circular grooves of the fixing ring 31. A first spring 36 is fitted onto the arc surface of the fixing rod 32. The two ends of the first spring 36 are fixedly connected to the single-hole plate 33 and the robot body 1, respectively. When the operator needs to replace different actuators 2, the operator first pulls the single-hole plate 32. 3. The short rod 34 slides on the arc surface of the fixed rod 32. At this time, the first spring 36 is stretched until the arc surface of the short rod 34 is completely separated from the fixed ring 31. Then, the operator can pull the actuator 2 to slide on the surface of the robot body 1 until the actuator 2 is completely separated from the robot body 1. Then, the operator can replace it with a different actuator 2 to slide on the surface of the robot body 1 until the new actuator 2 moves to the appropriate position. Then, the operator releases the single-hole plate 33. At this time, the rebound force of the first spring 36 drives the single-hole plate 33 to slide on the arc surface of the fixed rod 32. The single-hole plate 33 drives the short rod 34 to move until the short rod 34 is inserted into the circular groove of the fixed ring 31. This achieves the effect of improving the stability of the short rod 34 and preventing the robot body 1 from malfunctioning during operation. During the process, a certain angle of rotation is required, causing the short rod 34 to slide within the fixed ring 31, potentially leading to the short rod 34 detaching from the fixed ring 31. A circular plate 35 is fixedly connected to the arc surface of the fixed rod 32. The dimensions of the short rod 34 are compatible with the dimensions of the circular groove in the fixed ring 31. When the operator needs to replace different actuators 2, they first pull the single-hole plate 33, causing the short rod 34 to slide on the arc surface of the fixed rod 32 until the surface of the single-hole plate 33 is in contact with the surface of the circular plate 35. This prevents the single-hole plate 33 from detaching, avoiding situations where excessive force is applied when changing actuators 2, causing the single-hole plate 33 to detach from the arc surface of the fixed rod 32 and requiring reinstallation during use. A limiting plate 37 is slidably connected to the arc surface of the fixed rod 32. A long rod 38 is fixedly connected to the arc surface of the fixed rod 32. Square holes are opened on both sides of the limiting plate 37. The surface of the square holes of the limiting plate 37 is slidably connected to the long rod 38. A U-shaped plate 39 is fixedly connected to the surface of the single-hole plate 33. When the operator needs to change different actuators 2, the operator first pulls the limiting plate 37 to slide on the surface of the long rod 38. When the limiting plate 37 moves to a certain position, the operator releases the limiting ring 31. Then the operator continues to pull the single-hole plate 33, which drives the U-shaped plate 39 to move until the single-hole plate 33 is in contact with the surface of the circular plate 35. At this time, the operator releases the limiting plate 37, and the limiting plate 37 moves downward under the influence of gravity.Until the limiting plate 37 and the inner surface of the U-shaped plate 39 are in contact, the position of the short rod 34 is restricted, preventing it from being displaced by external forces during the installation of different actuators 2, which could potentially interfere with the installation of the actuator 2.

[0032] Reference Figure 4 and Figure 5 As shown, specifically, the dustproof device 4 includes a dustproof chamber 41, which is fixedly connected to the surface of the robot body 1. Connecting frames 42 are fixedly connected to both sides of the dustproof chamber 41. A dustproof net 43 is slidably connected to the inner surface of the connecting frame 42. Two single-sided plates 44 are fixedly connected to both sides of the connecting frame 42. A rotating rod 45 is fixedly connected to the side of the two single-sided plates 44 that is close to each other. An operating plate 46 is rotatably connected to the arc surface of the rotating rod 45. An operating plate 46 is rotatably connected to the inner surface of the connecting frame 42. The double-arc plate 49 and the rotating rod 45 have a torsion spring 47 fitted on their arc surfaces. The two ends of the torsion spring 47 are fixedly connected to the single-side plate 44 of the insertion rod and the operating plate 46, respectively. When the worker removes the dustproof net 43 for cleaning, the worker first rotates the double-arc plate 49 on the inner surface of the connecting frame 42 until the double-arc plate 49 is completely separated from the surface of the operating plate 46. At this time, the torque of the torsion spring 47 causes the operating plate 46 to slide on the surface of the connecting frame 42 until the operating plate 46 is completely detached from the dustproof net 43. At this point, the operator can pull the dustproof net 43 to slide on the inner surface of the connecting frame 42 until the dustproof net 43 is completely detached from the connecting frame 42. The operator can then clean the dustproof net 43. This achieves the effect of automatically opening the operating plate 46, while keeping the operating plate 46 in the open state for the operator to carry out further work. An anti-slip pad 48 is fixedly connected to one side of the operating plate 46. The surface of the anti-slip pad 48 is slidably connected to the double arc plate 49. When the operator needs to clean the dustproof net 43, the operator first rotates the double arc plate 49 and slides it on the surface of the anti-slip pad 48 until the double arc plate 49 is completely detached from the surface of the anti-slip pad 48. This increases the friction of the operating plate 46, preventing the robot body 1 from shaking to a certain extent during operation, which would cause the double arc plate 49 to slide on one side of the operating plate 46, detach the double arc plate 49 from the operating plate 46, and cause the dustproof net 43 to slide on the inner surface of the connecting frame 42, thus reducing the protective effect of the dustproof net 43.

[0033] Working principle: When the operator needs to change different actuators 2, the operator first pulls the limiting plate 37 to slide on the surface of the long rod 38. When the limiting plate 37 moves to a certain position, the operator pulls the single-hole plate 33 to drive the short rod 34 to slide on the arc surface of the fixed rod 32. At this time, the first spring 36 is stretched until the surface of the single-hole plate 33 is in contact with the surface of the circular plate 35, and the arc surface of the short rod 34 is completely disengaged from the fixed ring 31. At the same time, the single-hole plate 33 drives the U-shaped plate 39 to move. At this time, the operator releases the limiting plate 37, and the limiting plate 37 moves downward under the influence of gravity until the inner surface of the limiting plate 37 is in contact with the inner surface of the U-shaped plate 39. At this time, the operator can pull the actuator 2 to slide on the surface of the robot body 1 until the actuator 2 is completely disengaged. The robot body 1 is used to slide different actuators 2 on the surface of the robot body 1 until the new actuator 2 moves to the appropriate position. At this time, the operator releases the single-hole plate 33. The rebound force of the first spring 36 drives the single-hole plate 33 to slide on the arc surface of the fixed rod 32. The single-hole plate 33 drives the short rod 34 to move until the short rod 34 is inserted into the circular groove of the fixed ring 31. This achieves the effect of facilitating the operator to change the actuator 2. Since there are many types of actuators 2, to avoid the need to use different actuators 2 ends for different production tasks, and because the actuators 2 of the robot body 1 are difficult to change, the operator needs to change different robot bodies 1, which increases the workload of the operator. This improves the convenience of the device.

[0034] When the staff disassembles the dustproof net 43 for cleaning, the staff first rotates the double arc plate 49 and slides it on the surface of the anti-slip pad 48 until the double arc plate 49 is completely separated from the surface of the anti-slip pad 48. At this time, the torque of the torsion spring 47 drives the operating plate 46 to slide on the surface of the connecting frame 42 until the operating plate 46 is completely separated from the dustproof net 43. At this time, the staff can pull the dustproof net 43 to slide on the inner surface of the connecting frame 42 until the dustproof net 43 is completely separated from the connecting frame 42. The staff can then clean the dustproof net 43, which reduces the dust at the connection of the robot body 1 and avoids the robot body 1 from working in a dusty environment for a long time. Dust accumulates at the connection of the robot body 1, which increases the friction at the connection of the robot body 1, accelerates the wear of the robot body 1 and increases the gap, resulting in a decrease in the positioning accuracy of the robot body 1, thus improving the reliability of the device.

[0035] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. A multi-station stamping robot based on servo pressure coordination control, comprising a robot body (1), characterized in that: An actuator (2) is mounted on the surface of the robot body (1). A replacement device (3) is provided on the surface of the robot body (1). The replacement device (3) includes a fixing ring (31). The fixing ring (31) is fixedly connected to the surface of the robot body (1). The fixing ring (31) is fixedly connected to one side of the actuator (2). A fixing rod (32) is fixedly connected to the arc surface of the robot body (1). A single-hole plate (33) is fitted on the arc surface of the fixing rod (32). A short rod (34) is fixedly connected to one side of the single-hole plate (33). The arc surface of the short rod (34) is slidably connected to the fixing ring (31). Two circular grooves are opened on the arc surface of the fixing ring (31). The short rod (34) is slidably connected to the surface of the circular grooves of the fixing ring (31).

2. The multi-station stamping robot based on servo pressure coordination control according to claim 1, characterized in that: The arc surface of the fixed rod (32) is fitted with a first spring (36), and the two ends of the first spring (36) are fixedly connected to the single-hole plate (33) and the robot body (1) respectively.

3. The multi-station stamping robot based on servo pressure coordination control according to claim 1, characterized in that: The circular plate (35) is fixedly connected to the arc surface of the fixed rod (32), and the size of the short rod (34) is adapted to the size of the circular groove of the fixed ring (31).

4. A multi-station stamping robot based on servo pressure coordination control according to claim 1, characterized in that: The arc surface of the fixed rod (32) is slidably connected to the limiting plate (37), and the arc surface of the fixed rod (32) is fixedly connected to the long rod (38). Square holes are provided on both sides of the limiting plate (37), and the surface of the square hole of the limiting plate (37) is slidably connected to the long rod (38). A U-shaped plate (39) is fixedly connected to the surface of the single hole plate (33).

5. A multi-station stamping robot based on servo pressure coordination control according to claim 1, characterized in that: The surface of the robotic arm body (1) is provided with a dustproof device (4). The dustproof device (4) includes a dustproof chamber (41). The dustproof chamber (41) is fixedly connected to the surface of the robotic arm body (1). A connecting frame (42) is fixedly connected to both sides of the dustproof chamber (41). A dustproof net (43) is slidably connected to the inner surface of the connecting frame (42). Two single-sided plates (44) are fixedly connected to both sides of the connecting frame (42). A rotating rod (45) is fixedly connected to the side of the two single-sided plates (44) that are close to each other. An operating plate (46) is rotatably connected to the arc surface of the rotating rod (45). A double arc plate (49) is rotatably connected to the inner surface of the connecting frame (42).

6. A multi-station stamping robot based on servo pressure coordination control according to claim 5, characterized in that: The rotating rod (45) has a torsion spring (47) fitted on its arc surface. The two ends of the torsion spring (47) are fixedly connected to the single-side plate (44) of the insertion rod and the operating plate (46) respectively.

7. A multi-station stamping robot based on servo pressure coordination control according to claim 5, characterized in that: An anti-slip pad (48) is fixedly connected to one side of the operation panel (46), and the surface of the anti-slip pad (48) is slidably connected to the double arc plate (49).

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